From 56d9ab6e2d59146ffe9a5b473a8ac2bdb5ce610b Mon Sep 17 00:00:00 2001
From: kalman <kalmanxiong@slightech.com>
Date: Mon, 14 Jan 2019 18:51:06 +0800
Subject: [PATCH] fix(rectify): delete useless log

---
 src/mynteye/api/processor/depth_processor.cc   |  4 ++--
 src/mynteye/api/processor/points_processor.cc  |  2 +-
 src/mynteye/api/processor/rectify_processor.cc | 17 +++++++++++++++--
 src/mynteye/api/processor/rectify_processor.h  |  4 ----
 4 files changed, 18 insertions(+), 9 deletions(-)

diff --git a/src/mynteye/api/processor/depth_processor.cc b/src/mynteye/api/processor/depth_processor.cc
index 4107065..ae8f5e5 100644
--- a/src/mynteye/api/processor/depth_processor.cc
+++ b/src/mynteye/api/processor/depth_processor.cc
@@ -29,7 +29,7 @@ DepthProcessor::DepthProcessor(
     std::int32_t proc_period)
     : Processor(std::move(proc_period)),
     calib_infos_(calib_infos) {
-  VLOG(2) << __func__ << ": proc_period=" << proc_period;
+  VLOG(2) << __func__;
 }
 
 DepthProcessor::~DepthProcessor() {
@@ -51,7 +51,7 @@ bool DepthProcessor::OnProcess(
   ObjMat *output = Object::Cast<ObjMat>(out);
   int rows = input->value.rows;
   int cols = input->value.cols;
-  // std::cout << calib_infos_->T_mul_f << std::endl;
+  std::cout << calib_infos_->T_mul_f << std::endl;
   // 0.0793434
   cv::Mat depth_mat = cv::Mat::zeros(rows, cols, CV_16U);
   for (int i = 0; i < rows; i++) {
diff --git a/src/mynteye/api/processor/points_processor.cc b/src/mynteye/api/processor/points_processor.cc
index 162f7f7..fd8f204 100644
--- a/src/mynteye/api/processor/points_processor.cc
+++ b/src/mynteye/api/processor/points_processor.cc
@@ -57,7 +57,7 @@ PointsProcessor::PointsProcessor(
     std::int32_t proc_period)
     : Processor(std::move(proc_period)),
     calib_infos_(calib_infos) {
-  VLOG(2) << __func__ << ": proc_period=" << proc_period;
+  VLOG(2) << __func__;
 }
 
 PointsProcessor::~PointsProcessor() {
diff --git a/src/mynteye/api/processor/rectify_processor.cc b/src/mynteye/api/processor/rectify_processor.cc
index cf34e73..30a2442 100644
--- a/src/mynteye/api/processor/rectify_processor.cc
+++ b/src/mynteye/api/processor/rectify_processor.cc
@@ -339,13 +339,22 @@ void RectifyProcessor::InitParams(
       generateCameraFromIntrinsicsEquidistant(in_left);
   camodocal::CameraPtr camera_odo_ptr_right =
       generateCameraFromIntrinsicsEquidistant(in_right);
-  calib_infos =
+<<<<<<< HEAD
+  auto calib_infos_temp =
       stereoRectify(camera_odo_ptr_left,
                     camera_odo_ptr_right,
                     in_left,
                     in_right,
                     ex_right_to_left);
-
+  *calib_infos = *calib_infos_temp;
+=======
+  auto calib_info_tmp = stereoRectify(camera_odo_ptr_left,
+        camera_odo_ptr_right,
+        in_left,
+        in_right,
+        ex_right_to_left);
+  *calib_infos = *calib_info_tmp;
+>>>>>>> e56bf190f6df8a0af3b1c90b0e2008c8ae68309f
   cv::Mat rect_R_l =
       cv::Mat::eye(3, 3, CV_32F), rect_R_r = cv::Mat::eye(3, 3, CV_32F);
   for (size_t i = 0; i < 3; i++) {
@@ -381,7 +390,11 @@ RectifyProcessor::RectifyProcessor(
       std::int32_t proc_period)
     : Processor(std::move(proc_period)),
       calib_model(CalibrationModel::UNKNOW) {
+<<<<<<< HEAD
+=======
   VLOG(2) << __func__ << ": proc_period=" << proc_period;
+>>>>>>> e56bf190f6df8a0af3b1c90b0e2008c8ae68309f
+  calib_infos = std::make_shared<struct camera_calib_info_pair>();
   InitParams(
     *std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_left),
     *std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_right),
diff --git a/src/mynteye/api/processor/rectify_processor.h b/src/mynteye/api/processor/rectify_processor.h
index 5929dfc..147bc1e 100644
--- a/src/mynteye/api/processor/rectify_processor.h
+++ b/src/mynteye/api/processor/rectify_processor.h
@@ -23,11 +23,7 @@
 #include "mynteye/types.h"
 #include "mynteye/api/processor.h"
 #include "mynteye/device/device.h"
-#include <camodocal/camera_models/Camera.h>
-#include <camodocal/camera_models/CameraFactory.h>
 #include <camodocal/camera_models/EquidistantCamera.h>
-#include <camodocal/gpl/gpl.h>
-#include <camodocal/camera_models/Camera.h>
 #include <opencv2/core/eigen.hpp>
 #include <boost/algorithm/string.hpp>
 #include <boost/filesystem.hpp>